Last Modified: 01-30-2024 6.11:8.1.0 Doc ID: RM1000000021JCU
Model Year Start: 2022 Model: RAV4 Prod Date Range: [12/2021 -           ]
Title: PRE-COLLISION: PRE-COLLISION SYSTEM: U023587; Lost Communication with Cruise Control Front Distance Range Sensor Missing Message; 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]

DTC

U023587

Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

DESCRIPTION

for HV Model:

  • The millimeter wave radar sensor assembly is connected to the brake actuator assembly (No. 2 skid control ECU) via the CAN communication line.

    When entering test mode, if the brake actuator assembly (No. 2 skid control ECU) determines that the pre-collision system is not installed, the millimeter wave radar sensor assembly stores DTC U023587.

for Gasoline Model:

  • The millimeter wave radar sensor assembly is connected to the brake actuator assembly (skid control ECU) via the CAN communication line.

    When entering test mode, if the brake actuator assembly (skid control ECU) determines that the pre-collision system is not installed, the millimeter wave radar sensor assembly stores DTC U023587.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

U023587

Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

for HV Model:

  • In test mode, when the brake actuator assembly (No. 2 skid control ECU) has determined that the pre-collision system is not installed in the vehicle.

for Gasoline Model:

  • In test mode, when the brake actuator assembly (skid control ECU) has determined that the pre-collision system is not installed in the vehicle.
  • Vehicle Stability Control System
  • Millimeter Wave Radar Sensor

CAUTION / NOTICE / HINT

NOTICE:

  • When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle and a DTC may be stored.
  • When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

    HINT:

    Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

    Triangle Target: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(TRIANGLE TARGET)

    Flat Surface Target: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: TARGET ADJUSTMENT(FLAT SURFACE TARGET)

    Driving Adjustment: Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; CRUISE CONTROL: MILLIMETER WAVE RADAR SENSOR: DRIVING ADJUSTMENT

PROCEDURE

1.

CHECK ELECTRONICALLY CONTROLLED BRAKE SYSTEM

(a) Check for DTCs.

for HV Model:

Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): DTC CHECK / CLEAR

for Gasoline Model:

Click here 2019 - 2024 MY RAV4 RAV4 HV [11/2018 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): DTC CHECK / CLEAR

Chassis > Brake/EPB > Trouble Codes

HINT:

If U023587 is output in the pre-collision system, vehicle stability control system DTCs may also have been output. Check the vehicle stability control system first.

Result

Proceed to

DTCs are not output (for HV Model)

A

DTCs are not output (for Gasoline Model)

B

DTCs are output

C
B

GO TO STEP 4

C

GO TO ELECTRONICALLY CONTROLLED BRAKE SYSTEM

for HV Model:

Click here 2022 MY RAV4 RAV4 HV [12/2021 - 10/2022]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): DIAGNOSTIC TROUBLE CODE CHART 2023 MY RAV4 RAV4 HV [10/2022 - 10/2023]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): DIAGNOSTIC TROUBLE CODE CHART 2024 MY RAV4 RAV4 HV [10/2023 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): DIAGNOSTIC TROUBLE CODE CHART

for Gasoline Model:

Click here 2022 - 2024 MY RAV4 RAV4 HV [12/2021 -        ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): DIAGNOSTIC TROUBLE CODE CHART

A

2.

TEST MODE INSPECTION (VEHICLE STABILITY CONTROL SYSTEM)

HINT:

When entering Dealer Mode (Signal Check), the brake actuator assembly (No. 2 skid control ECU) communicates with the millimeter wave radar sensor assembly to judge whether the vehicle is equipped with the pre-collision system. Therefore, do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check).

(a) Procedure to Enter Test Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Apply the parking brake.

(3) Check that the shift lever is in P.

(4) Connect the Techstream to the DLC3.

(5) Turn the ignition switch to ON.

(6) Check that the steering wheel is centered.

(7) Turn the Techstream on.

(8) Switch the brake actuator assembly (No. 2 skid control ECU) to Dealer Mode (Signal Check) using the Techstream. Enter the following menus: Chassis / Brake/EPB / Utility / Signal Check.

Chassis > Brake/EPB > Utility

Tester Display

Signal Check

HINT:

Do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check). If Dealer Mode (Signal Check) is exited within 5 seconds of entering Dealer Mode (Signal Check), DTC U023587 may be stored. If DTC U023587 is output after exiting Dealer Mode (Signal Check), enter Dealer Mode (Signal Check) again, wait at least 5 seconds, then recheck for DTCs.

(b) End of Dealer Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Disconnect the Techstream.

NEXT

3.

CHECK FOR DTC

(a) Clear the DTCs.

Body Electrical > Pre-Collision System > Clear DTCs

(b) Make sure that the DTC detection conditions are met.

HINT:

If the detection conditions are not met, the system cannot detect the malfunction.

(c) Recheck for DTCs and check that no DTCs are output.

Body Electrical > Pre-Collision System > Trouble Codes

Result

Proceed to

DTC U023587 is not output

A

DTC U023587 is output

B
A

END
B

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

4.

TEST MODE INSPECTION (VEHICLE STABILITY CONTROL SYSTEM)

HINT:

When entering Dealer Mode (Signal Check), the brake actuator assembly (skid control ECU) communicates with the millimeter wave radar sensor assembly to judge whether the vehicle is equipped with the pre-collision system. Therefore, do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check).

(a) Procedure to Enter Test Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Apply the parking brake.

(3) Check that the shift lever is in P.

(4) Connect the Techstream to the DLC3.

(5) Turn the ignition switch to ON.

(6) Check that the steering wheel is centered.

(7) Turn the Techstream on.

(8) Switch the brake actuator assembly (skid control ECU) to Dealer Mode (Signal Check) using the Techstream. Enter the following menus: Chassis / Brake/EPB / Utility / Signal Check.

Chassis > Brake/EPB > Utility

Tester Display

Signal Check

HINT:

Do not exit Dealer Mode (Signal Check) within 5 seconds of entering Dealer Mode (Signal Check). If Dealer Mode (Signal Check) is exited within 5 seconds of entering Dealer Mode (Signal Check), DTC U023587 may be stored. If DTC U023587 is output after exiting Dealer Mode (Signal Check), enter Dealer Mode (Signal Check) again, wait at least 5 seconds, then recheck for DTCs.

(b) End of Dealer Mode (Signal Check)

(1) Turn the ignition switch off.

(2) Disconnect the Techstream.

NEXT

GO TO STEP 3